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Originally Posted by Jefferson
Ether's spreadsheet implements crab drive with the ability to change the orientation of the robot.
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The spreadsheet implements Unicorn drive (four wheel independent unlimited steering and four wheel independent drive).
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The Steer class implements a drive method similar to how a car drives... a car with 4-wheel steering anyway.
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4 wheel steering is a subset of the vehicle motions available with the 3 degrees of freedom in the spreadsheet (forward/reverse, strafe left/right, rotate clockwise/counterclockwise).
In other words, 4-wheel steering can be described in terms of those 3 degrees of freedom.
For example, here's how
Ackermann steering (standard auto front-wheel steering) can be described in terms of the 3 degrees of freedom.
So no matter what your operator interface is (4 wheel steering, Ackermann steering, or even tank-style steering), if you convert those operator-interface steering commands to the equivalent 3-degrees-of-freedom commands then you can duplicate it with the tester spreadsheet.